rosa_msgs

Custom ROS Messages for the RoSA project

If you found the code useful, you can cite the corresponding paper:

Citation (bibtex) @article{Strazdas_2022, doi = {10.3390/s22030923}, url = {https://doi.org/10.3390%2Fs22030923}, year = 2022, month = {jan}, publisher = {{MDPI} {AG}}, volume = {22}, number = {3}, pages = {923}, author = {Dominykas Strazdas and Jan Hintz and Aly Khalifa and Ahmed A. Abdelrahman and Thorsten Hempel and Ayoub Kassim Al-Hamadi}, title = {Robot System Assistant ({RoSA}): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction}, journal = {Sensors} }

MDPI and ACS Style

Strazdas, D.; Hintz, J.; Khalifa, A.; Abdelrahman, A.A.; Hempel, T.; Al-Hamadi, A.K. Robot System Assistant (RoSA): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction. Sensors 2022, 22, 923. https://doi.org/10.3390/s22030923 AMA Style

Strazdas D, Hintz J, Khalifa A, Abdelrahman AA, Hempel T, Al-Hamadi AK. Robot System Assistant (RoSA): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction. Sensors. 2022; 22(3):923. https://doi.org/10.3390/s22030923 Chicago/Turabian Style

Strazdas, Dominykas, Jan Hintz, Aly Khalifa, Ahmed A. Abdelrahman, Thorsten Hempel, and Ayoub K. Al-Hamadi. 2022. "Robot System Assistant (RoSA): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction" Sensors 22, no. 3: 923. https://doi.org/10.3390/s22030923

Types

Custom ROS Messages for the RoSA project

FacialData.msg
	Contains information about the detected face
face		sensor_msgs/CompressedImage	--> Detected face 
camID		int8 
user		int8				--> User Id
user_name	string				--> User name 
user_score	float64				--> Detection score 
emoji		string				--> Recognized facial emotion 
emoji_score	float64				--> Recognized facial emotion score
xmin		int64				--> Face boundary box top-left point (xmin, ymin) wrt original frame    
ymin		int64 
xmax		int64				--> Face boundary box bottom-right point (xmax, ymax) wrt original frame 
ymax		int64 
cx		float64				--> Face boundary box center point (cx, cy)
cy		float64 
roll		float64				--> Estimated head pose roll angle 
pitch		float64				--> Estimated head pose pitch angle  
yaw		float64				--> Estimated head pose yaw angle  
left_hand	bool 				
FacialHeader.msg
	Contains information about the current frame 
framesensor_msgs/Compressed	Image 		--> Current frame
ids				int8[] 		--> Detected ids in Image
facialData			FacialData[] 	--> Array of facialData, size = no of ids

Cube.msg:
    letters     string
    color       string
    x           float
    y           float
    layer       int
ProjectionObject.msg
Joint.msg   
    Contains Kinect v2 Joint: JointType, X,Y,Z as float

JointType:
    SpineBase = 0,
    SpineMid = 1,
    Neck = 2,
    Head = 3,
    ShoulderLeft = 4,
    ElbowLeft = 5,
    WristLeft = 6,
    HandLeft = 7,
    ShoulderRight = 8,
    ElbowRight = 9,
    WristRight = 10,
    HandRight = 11,
    HipLeft = 12,
    KneeLeft = 13,
    AnkleLeft = 14,
    FootLeft = 15,
    HipRight = 16,
    KneeRight = 17,
    AnkleRight = 18,
    FootRight = 19,
    SpineShoulder = 20,
    HandTipLeft = 21,
    ThumbLeft = 22,
    HandTipRight = 23,
    ThumbRight = 24
Body.msg
    Contains Kinect v2 Joints as Joint[], IsTracked as bool?

KinectBodies.msg
    Contains Kinect v2 Bodies as Body[]

How to install

cd ~/catkin_ws/src

git clone https://github.com/DoStraTech/rosa_msgs.git

cd ..

catkin_make

source devel/setup.bash

rosmsg package rosa_msgs